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<div class="title">eigen.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2012, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *  Copyright (C) 2010 Gael Guennebaud &lt;gael.guennebaud@inria.fr&gt;</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  Copyright (C) 2009 Hauke Heibel &lt;hauke.heibel@gmail.com&gt;</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  Copyright (c) 2012-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
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<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *     contributors may be used to endorse or promote products derived</span></div>
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<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="comment"> * $Id$</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#ifndef PCL_COMMON_EIGEN_H_</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#define PCL_COMMON_EIGEN_H_</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160; </div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#ifndef NOMINMAX</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#define NOMINMAX</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160; </div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="preprocessor">#if defined __GNUC__</span></div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;<span class="preprocessor">#  pragma GCC system_header</span></div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;<span class="preprocessor">#elif defined __SUNPRO_CC</span></div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;<span class="preprocessor">#  pragma disable_warn</span></div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160; </div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;<span class="preprocessor">#include &lt;cmath&gt;</span></div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;<span class="preprocessor">#include &lt;pcl/ModelCoefficients.h&gt;</span></div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160; </div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;<span class="preprocessor">#include &lt;Eigen/StdVector&gt;</span></div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;<span class="preprocessor">#include &lt;Eigen/Core&gt;</span></div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;<span class="preprocessor">#include &lt;Eigen/Eigenvalues&gt;</span></div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;<span class="preprocessor">#include &lt;Eigen/Geometry&gt;</span></div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;<span class="preprocessor">#include &lt;Eigen/SVD&gt;</span></div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;<span class="preprocessor">#include &lt;Eigen/LU&gt;</span></div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;<span class="preprocessor">#include &lt;Eigen/Dense&gt;</span></div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;<span class="preprocessor">#include &lt;Eigen/Eigenvalues&gt;</span></div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160; </div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;{</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Scalar, <span class="keyword">typename</span> Roots&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;  computeRoots2 (<span class="keyword">const</span> Scalar &amp;b, <span class="keyword">const</span> Scalar &amp;c, Roots &amp;roots);</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160; </div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Matrix, <span class="keyword">typename</span> Roots&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;  computeRoots (<span class="keyword">const</span> Matrix &amp;m, Roots &amp;roots);</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160; </div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Matrix, <span class="keyword">typename</span> Vector&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;  <a class="code" href="group__common.html#ga4fdd69805d49c416393c604f9f209113">eigen22</a> (<span class="keyword">const</span> Matrix &amp;mat, <span class="keyword">typename</span> Matrix::Scalar &amp;eigenvalue, Vector &amp;eigenvector);</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160; </div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Matrix, <span class="keyword">typename</span> Vector&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;  <a class="code" href="group__common.html#ga4fdd69805d49c416393c604f9f209113">eigen22</a> (<span class="keyword">const</span> Matrix &amp;mat, Matrix &amp;eigenvectors, Vector &amp;eigenvalues);</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160; </div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Matrix, <span class="keyword">typename</span> Vector&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;  <a class="code" href="group__common.html#ga11c9b186d04d2e8a868e058473214622">computeCorrespondingEigenVector</a> (<span class="keyword">const</span> Matrix &amp;mat, <span class="keyword">const</span> <span class="keyword">typename</span> Matrix::Scalar &amp;eigenvalue, Vector &amp;eigenvector);</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;  </div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Matrix, <span class="keyword">typename</span> Vector&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;  <a class="code" href="group__common.html#ga76d78c3e9c0f3f58a0806499ae6ed97b">eigen33</a> (<span class="keyword">const</span> Matrix &amp;mat, <span class="keyword">typename</span> Matrix::Scalar &amp;eigenvalue, Vector &amp;eigenvector);</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160; </div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Matrix, <span class="keyword">typename</span> Vector&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;  <a class="code" href="group__common.html#ga76d78c3e9c0f3f58a0806499ae6ed97b">eigen33</a> (<span class="keyword">const</span> Matrix &amp;mat, Vector &amp;evals);</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160; </div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Matrix, <span class="keyword">typename</span> Vector&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;  <a class="code" href="group__common.html#ga76d78c3e9c0f3f58a0806499ae6ed97b">eigen33</a> (<span class="keyword">const</span> Matrix &amp;mat, Matrix &amp;evecs, Vector &amp;evals);</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160; </div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Matrix&gt; <span class="keyword">typename</span> Matrix::Scalar</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;  <a class="code" href="group__common.html#gad09b0c9a50601f3ae20a7babfd9a8d2d">invert2x2</a> (<span class="keyword">const</span> Matrix &amp;matrix, Matrix &amp;inverse);</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160; </div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Matrix&gt; <span class="keyword">typename</span> Matrix::Scalar</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;  <a class="code" href="group__common.html#ga503f55a565c260660c6ac0461f17fa8f">invert3x3SymMatrix</a> (<span class="keyword">const</span> Matrix &amp;matrix, Matrix &amp;inverse);</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160; </div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Matrix&gt; <span class="keyword">typename</span> Matrix::Scalar</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;  <a class="code" href="group__common.html#gabb12d1f85437aafb0a3ac12af5633400">invert3x3Matrix</a> (<span class="keyword">const</span> Matrix &amp;matrix, Matrix &amp;inverse);</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160; </div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Matrix&gt; <span class="keyword">typename</span> Matrix::Scalar</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;  <a class="code" href="group__common.html#ga44d0048ba1efd11359011eb47f6c92fa">determinant3x3Matrix</a> (<span class="keyword">const</span> Matrix &amp;matrix);</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;  </div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;  <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;  <a class="code" href="group__common.html#ga58d47eda3c3f5f91125296fd7d202ebb">getTransFromUnitVectorsZY</a> (<span class="keyword">const</span> Eigen::Vector3f&amp; z_axis, </div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;                             <span class="keyword">const</span> Eigen::Vector3f&amp; y_direction,</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;                             Eigen::Affine3f&amp; transformation);</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160; </div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;  <span class="keyword">inline</span> Eigen::Affine3f</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;  <a class="code" href="group__common.html#ga58d47eda3c3f5f91125296fd7d202ebb">getTransFromUnitVectorsZY</a> (<span class="keyword">const</span> Eigen::Vector3f&amp; z_axis, </div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;                             <span class="keyword">const</span> Eigen::Vector3f&amp; y_direction);</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160; </div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;  <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;  <a class="code" href="group__common.html#ga8933c653f39db3636bfbdd262278edcb">getTransFromUnitVectorsXY</a> (<span class="keyword">const</span> Eigen::Vector3f&amp; x_axis, </div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;                             <span class="keyword">const</span> Eigen::Vector3f&amp; y_direction,</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;                             Eigen::Affine3f&amp; transformation);</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160; </div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;  <span class="keyword">inline</span> Eigen::Affine3f</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;  <a class="code" href="group__common.html#ga8933c653f39db3636bfbdd262278edcb">getTransFromUnitVectorsXY</a> (<span class="keyword">const</span> Eigen::Vector3f&amp; x_axis, </div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;                             <span class="keyword">const</span> Eigen::Vector3f&amp; y_direction);</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160; </div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;  <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;  <a class="code" href="group__common.html#gada89edf1699e05ecf7355738e9f56f6b">getTransformationFromTwoUnitVectors</a> (<span class="keyword">const</span> Eigen::Vector3f&amp; y_direction, </div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;                                       <span class="keyword">const</span> Eigen::Vector3f&amp; z_axis,</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;                                       Eigen::Affine3f&amp; transformation);</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160; </div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;  <span class="keyword">inline</span> Eigen::Affine3f</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;  <a class="code" href="group__common.html#gada89edf1699e05ecf7355738e9f56f6b">getTransformationFromTwoUnitVectors</a> (<span class="keyword">const</span> Eigen::Vector3f&amp; y_direction, </div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;                                       <span class="keyword">const</span> Eigen::Vector3f&amp; z_axis);</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160; </div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;  <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;  <a class="code" href="group__common.html#ga4375e99ec2ae368eec9379f506568611">getTransformationFromTwoUnitVectorsAndOrigin</a> (<span class="keyword">const</span> Eigen::Vector3f&amp; y_direction, </div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;                                                <span class="keyword">const</span> Eigen::Vector3f&amp; z_axis,</div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;                                                <span class="keyword">const</span> Eigen::Vector3f&amp; origin, </div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;                                                Eigen::Affine3f&amp; transformation);</div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160; </div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Scalar&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;  <a class="code" href="group__common.html#ga637da495fec59c1c1d186aa6e3bac15b">getEulerAngles</a> (<span class="keyword">const</span> Eigen::Transform&lt;Scalar, 3, Eigen::Affine&gt; &amp;t, Scalar &amp;roll, Scalar &amp;pitch, Scalar &amp;yaw);</div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160; </div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;  <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;  <a class="code" href="group__common.html#ga637da495fec59c1c1d186aa6e3bac15b">getEulerAngles</a> (<span class="keyword">const</span> Eigen::Affine3f &amp;t, <span class="keywordtype">float</span> &amp;roll, <span class="keywordtype">float</span> &amp;pitch, <span class="keywordtype">float</span> &amp;yaw)</div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;  {</div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;    getEulerAngles&lt;float&gt; (t, roll, pitch, yaw);</div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;  }</div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160; </div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;  <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;  <a class="code" href="group__common.html#ga637da495fec59c1c1d186aa6e3bac15b">getEulerAngles</a> (<span class="keyword">const</span> Eigen::Affine3d &amp;t, <span class="keywordtype">double</span> &amp;roll, <span class="keywordtype">double</span> &amp;pitch, <span class="keywordtype">double</span> &amp;yaw)</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;  {</div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;    getEulerAngles&lt;double&gt; (t, roll, pitch, yaw);</div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;  }</div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160; </div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Scalar&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;  <a class="code" href="group__common.html#ga3e52d439a979e71096f4dd50f1298f32">getTranslationAndEulerAngles</a> (<span class="keyword">const</span> Eigen::Transform&lt;Scalar, 3, Eigen::Affine&gt; &amp;t,</div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;                                Scalar &amp;x, Scalar &amp;y, Scalar &amp;z,</div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;                                Scalar &amp;roll, Scalar &amp;pitch, Scalar &amp;yaw);</div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160; </div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;  <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;  <a class="code" href="group__common.html#ga3e52d439a979e71096f4dd50f1298f32">getTranslationAndEulerAngles</a> (<span class="keyword">const</span> Eigen::Affine3f &amp;t,</div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;                                <span class="keywordtype">float</span> &amp;x, <span class="keywordtype">float</span> &amp;y, <span class="keywordtype">float</span> &amp;z,</div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;                                <span class="keywordtype">float</span> &amp;roll, <span class="keywordtype">float</span> &amp;pitch, <span class="keywordtype">float</span> &amp;yaw)</div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;  {</div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;    getTranslationAndEulerAngles&lt;float&gt; (t, x, y, z, roll, pitch, yaw);</div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;  }</div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160; </div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;  <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;  <a class="code" href="group__common.html#ga3e52d439a979e71096f4dd50f1298f32">getTranslationAndEulerAngles</a> (<span class="keyword">const</span> Eigen::Affine3d &amp;t,</div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;                                <span class="keywordtype">double</span> &amp;x, <span class="keywordtype">double</span> &amp;y, <span class="keywordtype">double</span> &amp;z,</div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;                                <span class="keywordtype">double</span> &amp;roll, <span class="keywordtype">double</span> &amp;pitch, <span class="keywordtype">double</span> &amp;yaw)</div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;  {</div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;    getTranslationAndEulerAngles&lt;double&gt; (t, x, y, z, roll, pitch, yaw);</div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;  }</div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160; </div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Scalar&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;  <a class="code" href="group__common.html#gaf49a34180e337479ddeda21222882124">getTransformation</a> (Scalar x, Scalar y, Scalar z, Scalar roll, Scalar pitch, Scalar yaw, </div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;                     Eigen::Transform&lt;Scalar, 3, Eigen::Affine&gt; &amp;t);</div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160; </div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;  <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;  <a class="code" href="group__common.html#gaf49a34180e337479ddeda21222882124">getTransformation</a> (<span class="keywordtype">float</span> x, <span class="keywordtype">float</span> y, <span class="keywordtype">float</span> z, <span class="keywordtype">float</span> roll, <span class="keywordtype">float</span> pitch, <span class="keywordtype">float</span> yaw, </div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;                     Eigen::Affine3f &amp;t)</div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;  {</div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;    <span class="keywordflow">return</span> (getTransformation&lt;float&gt; (x, y, z, roll, pitch, yaw, t));</div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;  }</div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160; </div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;  <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;  <a class="code" href="group__common.html#gaf49a34180e337479ddeda21222882124">getTransformation</a> (<span class="keywordtype">double</span> x, <span class="keywordtype">double</span> y, <span class="keywordtype">double</span> z, <span class="keywordtype">double</span> roll, <span class="keywordtype">double</span> pitch, <span class="keywordtype">double</span> yaw, </div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;                     Eigen::Affine3d &amp;t)</div>
<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;  {</div>
<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;    <span class="keywordflow">return</span> (getTransformation&lt;double&gt; (x, y, z, roll, pitch, yaw, t));</div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;  }</div>
<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160; </div>
<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;  <span class="keyword">inline</span> Eigen::Affine3f</div>
<div class="line"><a name="l00350"></a><span class="lineno"><a class="line" href="group__common.html#gaf49a34180e337479ddeda21222882124">  350</a></span>&#160;  <a class="code" href="group__common.html#gaf49a34180e337479ddeda21222882124">getTransformation</a> (<span class="keywordtype">float</span> x, <span class="keywordtype">float</span> y, <span class="keywordtype">float</span> z, <span class="keywordtype">float</span> roll, <span class="keywordtype">float</span> pitch, <span class="keywordtype">float</span> yaw)</div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;  {</div>
<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;    Eigen::Affine3f t;</div>
<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;    getTransformation&lt;float&gt; (x, y, z, roll, pitch, yaw, t);</div>
<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;    <span class="keywordflow">return</span> (t);</div>
<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;  }</div>
<div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160; </div>
<div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Derived&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160;  <a class="code" href="group__common.html#gacc18ebcacd806fd0c9336fe2f8b7208c">saveBinary</a> (<span class="keyword">const</span> Eigen::MatrixBase&lt;Derived&gt;&amp; matrix, std::ostream&amp; file);</div>
<div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160; </div>
<div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Derived&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160;  <a class="code" href="group__common.html#ga5281205532955d384c8aa22ff4ff5e80">loadBinary</a> (Eigen::MatrixBase&lt;Derived&gt; <span class="keyword">const</span>&amp; matrix, std::istream&amp; file);</div>
<div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160; </div>
<div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160;<span class="comment">// PCL_EIGEN_SIZE_MIN_PREFER_DYNAMIC gives the min between compile-time sizes. 0 has absolute priority, followed by 1,</span></div>
<div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160;<span class="comment">// followed by Dynamic, followed by other finite values. The reason for giving Dynamic the priority over</span></div>
<div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160;<span class="comment">// finite values is that min(3, Dynamic) should be Dynamic, since that could be anything between 0 and 3.</span></div>
<div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;<span class="preprocessor">#define PCL_EIGEN_SIZE_MIN_PREFER_DYNAMIC(a,b) ((int (a) == 0 || int (b) == 0) ? 0 \</span></div>
<div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;<span class="preprocessor">                           : (int (a) == 1 || int (b) == 1) ? 1 \</span></div>
<div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;<span class="preprocessor">                           : (int (a) == Eigen::Dynamic || int (b) == Eigen::Dynamic) ? Eigen::Dynamic \</span></div>
<div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160;<span class="preprocessor">                           : (int (a) &lt;= int (b)) ? int (a) : int (b))</span></div>
<div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160; </div>
<div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Derived, <span class="keyword">typename</span> OtherDerived&gt; </div>
<div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160;  <span class="keyword">typename</span> Eigen::internal::umeyama_transform_matrix_type&lt;Derived, OtherDerived&gt;::type</div>
<div class="line"><a name="l00413"></a><span class="lineno">  413</span>&#160;  umeyama (<span class="keyword">const</span> Eigen::MatrixBase&lt;Derived&gt;&amp; src, <span class="keyword">const</span> Eigen::MatrixBase&lt;OtherDerived&gt;&amp; dst, <span class="keywordtype">bool</span> with_scaling = <span class="keyword">false</span>);</div>
<div class="line"><a name="l00414"></a><span class="lineno">  414</span>&#160; </div>
<div class="line"><a name="l00422"></a><span class="lineno">  422</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Scalar&gt; <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00423"></a><span class="lineno">  423</span>&#160;  <a class="code" href="group__common.html#ga1bd2c5ea1258af3a45483dd1341aa429">transformPoint</a> (<span class="keyword">const</span> Eigen::Matrix&lt;Scalar, 3, 1&gt; &amp;point_in,</div>
<div class="line"><a name="l00424"></a><span class="lineno">  424</span>&#160;                        Eigen::Matrix&lt;Scalar, 3, 1&gt; &amp;point_out,</div>
<div class="line"><a name="l00425"></a><span class="lineno">  425</span>&#160;                  <span class="keyword">const</span> Eigen::Transform&lt;Scalar, 3, Eigen::Affine&gt; &amp;transformation)</div>
<div class="line"><a name="l00426"></a><span class="lineno">  426</span>&#160;  {</div>
<div class="line"><a name="l00427"></a><span class="lineno">  427</span>&#160;    Eigen::Matrix&lt;Scalar, 4, 1&gt; point;</div>
<div class="line"><a name="l00428"></a><span class="lineno">  428</span>&#160;    point &lt;&lt; point_in, 1.0;</div>
<div class="line"><a name="l00429"></a><span class="lineno">  429</span>&#160;    point_out = (transformation * point).<span class="keyword">template</span> head&lt;3&gt; ();</div>
<div class="line"><a name="l00430"></a><span class="lineno">  430</span>&#160;  }</div>
<div class="line"><a name="l00431"></a><span class="lineno">  431</span>&#160; </div>
<div class="line"><a name="l00432"></a><span class="lineno">  432</span>&#160;  <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00433"></a><span class="lineno">  433</span>&#160;  <a class="code" href="group__common.html#ga1bd2c5ea1258af3a45483dd1341aa429">transformPoint</a> (<span class="keyword">const</span> Eigen::Vector3f &amp;point_in,</div>
<div class="line"><a name="l00434"></a><span class="lineno">  434</span>&#160;                        Eigen::Vector3f &amp;point_out,</div>
<div class="line"><a name="l00435"></a><span class="lineno">  435</span>&#160;                  <span class="keyword">const</span> Eigen::Affine3f &amp;transformation)</div>
<div class="line"><a name="l00436"></a><span class="lineno">  436</span>&#160;  {</div>
<div class="line"><a name="l00437"></a><span class="lineno">  437</span>&#160;    transformPoint&lt;float&gt; (point_in, point_out, transformation);</div>
<div class="line"><a name="l00438"></a><span class="lineno">  438</span>&#160;  }</div>
<div class="line"><a name="l00439"></a><span class="lineno">  439</span>&#160; </div>
<div class="line"><a name="l00440"></a><span class="lineno">  440</span>&#160;  <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00441"></a><span class="lineno">  441</span>&#160;  <a class="code" href="group__common.html#ga1bd2c5ea1258af3a45483dd1341aa429">transformPoint</a> (<span class="keyword">const</span> Eigen::Vector3d &amp;point_in,</div>
<div class="line"><a name="l00442"></a><span class="lineno">  442</span>&#160;                        Eigen::Vector3d &amp;point_out,</div>
<div class="line"><a name="l00443"></a><span class="lineno">  443</span>&#160;                  <span class="keyword">const</span> Eigen::Affine3d &amp;transformation)</div>
<div class="line"><a name="l00444"></a><span class="lineno">  444</span>&#160;  {</div>
<div class="line"><a name="l00445"></a><span class="lineno">  445</span>&#160;    transformPoint&lt;double&gt; (point_in, point_out, transformation);</div>
<div class="line"><a name="l00446"></a><span class="lineno">  446</span>&#160;  }</div>
<div class="line"><a name="l00447"></a><span class="lineno">  447</span>&#160; </div>
<div class="line"><a name="l00455"></a><span class="lineno">  455</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Scalar&gt; <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00456"></a><span class="lineno">  456</span>&#160;  transformVector (<span class="keyword">const</span> Eigen::Matrix&lt;Scalar, 3, 1&gt; &amp;vector_in,</div>
<div class="line"><a name="l00457"></a><span class="lineno">  457</span>&#160;                         Eigen::Matrix&lt;Scalar, 3, 1&gt; &amp;vector_out,</div>
<div class="line"><a name="l00458"></a><span class="lineno">  458</span>&#160;                   <span class="keyword">const</span> Eigen::Transform&lt;Scalar, 3, Eigen::Affine&gt; &amp;transformation)</div>
<div class="line"><a name="l00459"></a><span class="lineno">  459</span>&#160;  {</div>
<div class="line"><a name="l00460"></a><span class="lineno">  460</span>&#160;    vector_out = transformation.linear () * vector_in;</div>
<div class="line"><a name="l00461"></a><span class="lineno">  461</span>&#160;  }</div>
<div class="line"><a name="l00462"></a><span class="lineno">  462</span>&#160; </div>
<div class="line"><a name="l00463"></a><span class="lineno">  463</span>&#160;  <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00464"></a><span class="lineno">  464</span>&#160;  transformVector (<span class="keyword">const</span> Eigen::Vector3f &amp;vector_in,</div>
<div class="line"><a name="l00465"></a><span class="lineno">  465</span>&#160;                         Eigen::Vector3f &amp;vector_out,</div>
<div class="line"><a name="l00466"></a><span class="lineno">  466</span>&#160;                   <span class="keyword">const</span> Eigen::Affine3f &amp;transformation)</div>
<div class="line"><a name="l00467"></a><span class="lineno">  467</span>&#160;  {</div>
<div class="line"><a name="l00468"></a><span class="lineno">  468</span>&#160;    transformVector&lt;float&gt; (vector_in, vector_out, transformation);</div>
<div class="line"><a name="l00469"></a><span class="lineno">  469</span>&#160;  }</div>
<div class="line"><a name="l00470"></a><span class="lineno">  470</span>&#160; </div>
<div class="line"><a name="l00471"></a><span class="lineno">  471</span>&#160;  <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00472"></a><span class="lineno">  472</span>&#160;  transformVector (<span class="keyword">const</span> Eigen::Vector3d &amp;vector_in,</div>
<div class="line"><a name="l00473"></a><span class="lineno">  473</span>&#160;                         Eigen::Vector3d &amp;vector_out,</div>
<div class="line"><a name="l00474"></a><span class="lineno">  474</span>&#160;                   <span class="keyword">const</span> Eigen::Affine3d &amp;transformation)</div>
<div class="line"><a name="l00475"></a><span class="lineno">  475</span>&#160;  {</div>
<div class="line"><a name="l00476"></a><span class="lineno">  476</span>&#160;    transformVector&lt;double&gt; (vector_in, vector_out, transformation);</div>
<div class="line"><a name="l00477"></a><span class="lineno">  477</span>&#160;  }</div>
<div class="line"><a name="l00478"></a><span class="lineno">  478</span>&#160; </div>
<div class="line"><a name="l00490"></a><span class="lineno">  490</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Scalar&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00491"></a><span class="lineno">  491</span>&#160;  transformLine (<span class="keyword">const</span> Eigen::Matrix&lt;Scalar, Eigen::Dynamic, 1&gt; &amp;line_in,</div>
<div class="line"><a name="l00492"></a><span class="lineno">  492</span>&#160;                       Eigen::Matrix&lt;Scalar, Eigen::Dynamic, 1&gt; &amp;line_out,</div>
<div class="line"><a name="l00493"></a><span class="lineno">  493</span>&#160;                 <span class="keyword">const</span> Eigen::Transform&lt;Scalar, 3, Eigen::Affine&gt; &amp;transformation);</div>
<div class="line"><a name="l00494"></a><span class="lineno">  494</span>&#160; </div>
<div class="line"><a name="l00495"></a><span class="lineno">  495</span>&#160;  <span class="keyword">inline</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00496"></a><span class="lineno">  496</span>&#160;  transformLine (<span class="keyword">const</span> Eigen::VectorXf &amp;line_in,</div>
<div class="line"><a name="l00497"></a><span class="lineno">  497</span>&#160;                       Eigen::VectorXf &amp;line_out,</div>
<div class="line"><a name="l00498"></a><span class="lineno">  498</span>&#160;                 <span class="keyword">const</span> Eigen::Affine3f &amp;transformation)</div>
<div class="line"><a name="l00499"></a><span class="lineno">  499</span>&#160;  {</div>
<div class="line"><a name="l00500"></a><span class="lineno">  500</span>&#160;    <span class="keywordflow">return</span> (transformLine&lt;float&gt; (line_in, line_out, transformation));</div>
<div class="line"><a name="l00501"></a><span class="lineno">  501</span>&#160;  }</div>
<div class="line"><a name="l00502"></a><span class="lineno">  502</span>&#160; </div>
<div class="line"><a name="l00503"></a><span class="lineno">  503</span>&#160;  <span class="keyword">inline</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00504"></a><span class="lineno">  504</span>&#160;  transformLine (<span class="keyword">const</span> Eigen::VectorXd &amp;line_in,</div>
<div class="line"><a name="l00505"></a><span class="lineno">  505</span>&#160;                       Eigen::VectorXd &amp;line_out,</div>
<div class="line"><a name="l00506"></a><span class="lineno">  506</span>&#160;                 <span class="keyword">const</span> Eigen::Affine3d &amp;transformation)</div>
<div class="line"><a name="l00507"></a><span class="lineno">  507</span>&#160;  {</div>
<div class="line"><a name="l00508"></a><span class="lineno">  508</span>&#160;    <span class="keywordflow">return</span> (transformLine&lt;double&gt; (line_in, line_out, transformation));</div>
<div class="line"><a name="l00509"></a><span class="lineno">  509</span>&#160;  }</div>
<div class="line"><a name="l00510"></a><span class="lineno">  510</span>&#160; </div>
<div class="line"><a name="l00520"></a><span class="lineno">  520</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Scalar&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00521"></a><span class="lineno">  521</span>&#160;  transformPlane (<span class="keyword">const</span> Eigen::Matrix&lt;Scalar, 4, 1&gt; &amp;plane_in,</div>
<div class="line"><a name="l00522"></a><span class="lineno">  522</span>&#160;                        Eigen::Matrix&lt;Scalar, 4, 1&gt; &amp;plane_out,</div>
<div class="line"><a name="l00523"></a><span class="lineno">  523</span>&#160;                  <span class="keyword">const</span> Eigen::Transform&lt;Scalar, 3, Eigen::Affine&gt; &amp;transformation);</div>
<div class="line"><a name="l00524"></a><span class="lineno">  524</span>&#160; </div>
<div class="line"><a name="l00525"></a><span class="lineno">  525</span>&#160;  <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00526"></a><span class="lineno">  526</span>&#160;  transformPlane (<span class="keyword">const</span> Eigen::Matrix&lt;double, 4, 1&gt; &amp;plane_in,</div>
<div class="line"><a name="l00527"></a><span class="lineno">  527</span>&#160;                        Eigen::Matrix&lt;double, 4, 1&gt; &amp;plane_out,</div>
<div class="line"><a name="l00528"></a><span class="lineno">  528</span>&#160;                  <span class="keyword">const</span> Eigen::Transform&lt;double, 3, Eigen::Affine&gt; &amp;transformation)</div>
<div class="line"><a name="l00529"></a><span class="lineno">  529</span>&#160;  {</div>
<div class="line"><a name="l00530"></a><span class="lineno">  530</span>&#160;    transformPlane&lt;double&gt; (plane_in, plane_out, transformation);</div>
<div class="line"><a name="l00531"></a><span class="lineno">  531</span>&#160;  }</div>
<div class="line"><a name="l00532"></a><span class="lineno">  532</span>&#160; </div>
<div class="line"><a name="l00533"></a><span class="lineno">  533</span>&#160;  <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00534"></a><span class="lineno">  534</span>&#160;  transformPlane (<span class="keyword">const</span> Eigen::Matrix&lt;float, 4, 1&gt; &amp;plane_in,</div>
<div class="line"><a name="l00535"></a><span class="lineno">  535</span>&#160;                        Eigen::Matrix&lt;float, 4, 1&gt; &amp;plane_out,</div>
<div class="line"><a name="l00536"></a><span class="lineno">  536</span>&#160;                  <span class="keyword">const</span> Eigen::Transform&lt;float, 3, Eigen::Affine&gt; &amp;transformation)</div>
<div class="line"><a name="l00537"></a><span class="lineno">  537</span>&#160;  {</div>
<div class="line"><a name="l00538"></a><span class="lineno">  538</span>&#160;    transformPlane&lt;float&gt; (plane_in, plane_out, transformation);</div>
<div class="line"><a name="l00539"></a><span class="lineno">  539</span>&#160;  }</div>
<div class="line"><a name="l00540"></a><span class="lineno">  540</span>&#160; </div>
<div class="line"><a name="l00551"></a><span class="lineno">  551</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Scalar&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00552"></a><span class="lineno">  552</span>&#160;  transformPlane (<span class="keyword">const</span> pcl::ModelCoefficients::Ptr plane_in,</div>
<div class="line"><a name="l00553"></a><span class="lineno">  553</span>&#160;                        pcl::ModelCoefficients::Ptr plane_out,</div>
<div class="line"><a name="l00554"></a><span class="lineno">  554</span>&#160;                  <span class="keyword">const</span> Eigen::Transform&lt;Scalar, 3, Eigen::Affine&gt; &amp;transformation);</div>
<div class="line"><a name="l00555"></a><span class="lineno">  555</span>&#160; </div>
<div class="line"><a name="l00556"></a><span class="lineno">  556</span>&#160;  <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00557"></a><span class="lineno">  557</span>&#160;  transformPlane (<span class="keyword">const</span> pcl::ModelCoefficients::Ptr plane_in,</div>
<div class="line"><a name="l00558"></a><span class="lineno">  558</span>&#160;                        pcl::ModelCoefficients::Ptr plane_out,</div>
<div class="line"><a name="l00559"></a><span class="lineno">  559</span>&#160;                  <span class="keyword">const</span> Eigen::Transform&lt;double, 3, Eigen::Affine&gt; &amp;transformation)</div>
<div class="line"><a name="l00560"></a><span class="lineno">  560</span>&#160;  {</div>
<div class="line"><a name="l00561"></a><span class="lineno">  561</span>&#160;    transformPlane&lt;double&gt; (plane_in, plane_out, transformation);</div>
<div class="line"><a name="l00562"></a><span class="lineno">  562</span>&#160;  }</div>
<div class="line"><a name="l00563"></a><span class="lineno">  563</span>&#160; </div>
<div class="line"><a name="l00564"></a><span class="lineno">  564</span>&#160;  <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00565"></a><span class="lineno">  565</span>&#160;  transformPlane (<span class="keyword">const</span> pcl::ModelCoefficients::Ptr plane_in,</div>
<div class="line"><a name="l00566"></a><span class="lineno">  566</span>&#160;                        pcl::ModelCoefficients::Ptr plane_out,</div>
<div class="line"><a name="l00567"></a><span class="lineno">  567</span>&#160;                  <span class="keyword">const</span> Eigen::Transform&lt;float, 3, Eigen::Affine&gt; &amp;transformation)</div>
<div class="line"><a name="l00568"></a><span class="lineno">  568</span>&#160;  {</div>
<div class="line"><a name="l00569"></a><span class="lineno">  569</span>&#160;    transformPlane&lt;float&gt; (plane_in, plane_out, transformation);</div>
<div class="line"><a name="l00570"></a><span class="lineno">  570</span>&#160;  }</div>
<div class="line"><a name="l00571"></a><span class="lineno">  571</span>&#160; </div>
<div class="line"><a name="l00595"></a><span class="lineno">  595</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Scalar&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00596"></a><span class="lineno">  596</span>&#160;  checkCoordinateSystem (<span class="keyword">const</span> Eigen::Matrix&lt;Scalar, Eigen::Dynamic, 1&gt; &amp;line_x,</div>
<div class="line"><a name="l00597"></a><span class="lineno">  597</span>&#160;                         <span class="keyword">const</span> Eigen::Matrix&lt;Scalar, Eigen::Dynamic, 1&gt; &amp;line_y,</div>
<div class="line"><a name="l00598"></a><span class="lineno">  598</span>&#160;                         <span class="keyword">const</span> Scalar norm_limit = 1e-3,</div>
<div class="line"><a name="l00599"></a><span class="lineno">  599</span>&#160;                         <span class="keyword">const</span> Scalar dot_limit = 1e-3);</div>
<div class="line"><a name="l00600"></a><span class="lineno">  600</span>&#160; </div>
<div class="line"><a name="l00601"></a><span class="lineno">  601</span>&#160;  <span class="keyword">inline</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00602"></a><span class="lineno">  602</span>&#160;  checkCoordinateSystem (<span class="keyword">const</span> Eigen::Matrix&lt;double, Eigen::Dynamic, 1&gt; &amp;line_x,</div>
<div class="line"><a name="l00603"></a><span class="lineno">  603</span>&#160;                         <span class="keyword">const</span> Eigen::Matrix&lt;double, Eigen::Dynamic, 1&gt; &amp;line_y,</div>
<div class="line"><a name="l00604"></a><span class="lineno">  604</span>&#160;                         <span class="keyword">const</span> <span class="keywordtype">double</span> norm_limit = 1e-3,</div>
<div class="line"><a name="l00605"></a><span class="lineno">  605</span>&#160;                         <span class="keyword">const</span> <span class="keywordtype">double</span> dot_limit = 1e-3)</div>
<div class="line"><a name="l00606"></a><span class="lineno">  606</span>&#160;  {</div>
<div class="line"><a name="l00607"></a><span class="lineno">  607</span>&#160;    <span class="keywordflow">return</span> (checkCoordinateSystem&lt;double&gt; (line_x, line_y, norm_limit, dot_limit));</div>
<div class="line"><a name="l00608"></a><span class="lineno">  608</span>&#160;  }</div>
<div class="line"><a name="l00609"></a><span class="lineno">  609</span>&#160; </div>
<div class="line"><a name="l00610"></a><span class="lineno">  610</span>&#160;  <span class="keyword">inline</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00611"></a><span class="lineno">  611</span>&#160;  checkCoordinateSystem (<span class="keyword">const</span> Eigen::Matrix&lt;float, Eigen::Dynamic, 1&gt; &amp;line_x,</div>
<div class="line"><a name="l00612"></a><span class="lineno">  612</span>&#160;                         <span class="keyword">const</span> Eigen::Matrix&lt;float, Eigen::Dynamic, 1&gt; &amp;line_y,</div>
<div class="line"><a name="l00613"></a><span class="lineno">  613</span>&#160;                         <span class="keyword">const</span> <span class="keywordtype">float</span> norm_limit = 1e-3,</div>
<div class="line"><a name="l00614"></a><span class="lineno">  614</span>&#160;                         <span class="keyword">const</span> <span class="keywordtype">float</span> dot_limit = 1e-3)</div>
<div class="line"><a name="l00615"></a><span class="lineno">  615</span>&#160;  {</div>
<div class="line"><a name="l00616"></a><span class="lineno">  616</span>&#160;    <span class="keywordflow">return</span> (checkCoordinateSystem&lt;float&gt; (line_x, line_y, norm_limit, dot_limit));</div>
<div class="line"><a name="l00617"></a><span class="lineno">  617</span>&#160;  }</div>
<div class="line"><a name="l00618"></a><span class="lineno">  618</span>&#160; </div>
<div class="line"><a name="l00629"></a><span class="lineno">  629</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Scalar&gt; <span class="keyword">inline</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00630"></a><span class="lineno">  630</span>&#160;  checkCoordinateSystem (<span class="keyword">const</span> Eigen::Matrix&lt;Scalar, 3, 1&gt; &amp;origin,</div>
<div class="line"><a name="l00631"></a><span class="lineno">  631</span>&#160;                         <span class="keyword">const</span> Eigen::Matrix&lt;Scalar, 3, 1&gt; &amp;x_direction,</div>
<div class="line"><a name="l00632"></a><span class="lineno">  632</span>&#160;                         <span class="keyword">const</span> Eigen::Matrix&lt;Scalar, 3, 1&gt; &amp;y_direction,</div>
<div class="line"><a name="l00633"></a><span class="lineno">  633</span>&#160;                         <span class="keyword">const</span> Scalar norm_limit = 1e-3,</div>
<div class="line"><a name="l00634"></a><span class="lineno">  634</span>&#160;                         <span class="keyword">const</span> Scalar dot_limit = 1e-3)</div>
<div class="line"><a name="l00635"></a><span class="lineno">  635</span>&#160;  {</div>
<div class="line"><a name="l00636"></a><span class="lineno">  636</span>&#160;    Eigen::Matrix&lt;Scalar, Eigen::Dynamic, 1&gt; line_x;</div>
<div class="line"><a name="l00637"></a><span class="lineno">  637</span>&#160;    Eigen::Matrix&lt;Scalar, Eigen::Dynamic, 1&gt; line_y;</div>
<div class="line"><a name="l00638"></a><span class="lineno">  638</span>&#160;    line_x &lt;&lt; origin, x_direction;</div>
<div class="line"><a name="l00639"></a><span class="lineno">  639</span>&#160;    line_y &lt;&lt; origin, y_direction;</div>
<div class="line"><a name="l00640"></a><span class="lineno">  640</span>&#160;    <span class="keywordflow">return</span> (checkCoordinateSystem&lt;Scalar&gt; (line_x, line_y, norm_limit, dot_limit));</div>
<div class="line"><a name="l00641"></a><span class="lineno">  641</span>&#160;  }</div>
<div class="line"><a name="l00642"></a><span class="lineno">  642</span>&#160; </div>
<div class="line"><a name="l00643"></a><span class="lineno">  643</span>&#160;  <span class="keyword">inline</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00644"></a><span class="lineno">  644</span>&#160;  checkCoordinateSystem (<span class="keyword">const</span> Eigen::Matrix&lt;double, 3, 1&gt; &amp;origin,</div>
<div class="line"><a name="l00645"></a><span class="lineno">  645</span>&#160;                         <span class="keyword">const</span> Eigen::Matrix&lt;double, 3, 1&gt; &amp;x_direction,</div>
<div class="line"><a name="l00646"></a><span class="lineno">  646</span>&#160;                         <span class="keyword">const</span> Eigen::Matrix&lt;double, 3, 1&gt; &amp;y_direction,</div>
<div class="line"><a name="l00647"></a><span class="lineno">  647</span>&#160;                         <span class="keyword">const</span> <span class="keywordtype">double</span> norm_limit = 1e-3,</div>
<div class="line"><a name="l00648"></a><span class="lineno">  648</span>&#160;                         <span class="keyword">const</span> <span class="keywordtype">double</span> dot_limit = 1e-3)</div>
<div class="line"><a name="l00649"></a><span class="lineno">  649</span>&#160;  {</div>
<div class="line"><a name="l00650"></a><span class="lineno">  650</span>&#160;    Eigen::Matrix&lt;double, Eigen::Dynamic, 1&gt; line_x;</div>
<div class="line"><a name="l00651"></a><span class="lineno">  651</span>&#160;    Eigen::Matrix&lt;double, Eigen::Dynamic, 1&gt; line_y;</div>
<div class="line"><a name="l00652"></a><span class="lineno">  652</span>&#160;    line_x.resize (6);</div>
<div class="line"><a name="l00653"></a><span class="lineno">  653</span>&#160;    line_y.resize (6);</div>
<div class="line"><a name="l00654"></a><span class="lineno">  654</span>&#160;    line_x &lt;&lt; origin, x_direction;</div>
<div class="line"><a name="l00655"></a><span class="lineno">  655</span>&#160;    line_y &lt;&lt; origin, y_direction;</div>
<div class="line"><a name="l00656"></a><span class="lineno">  656</span>&#160;    <span class="keywordflow">return</span> (checkCoordinateSystem&lt;double&gt; (line_x, line_y, norm_limit, dot_limit));</div>
<div class="line"><a name="l00657"></a><span class="lineno">  657</span>&#160;  }</div>
<div class="line"><a name="l00658"></a><span class="lineno">  658</span>&#160; </div>
<div class="line"><a name="l00659"></a><span class="lineno">  659</span>&#160;  <span class="keyword">inline</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00660"></a><span class="lineno">  660</span>&#160;  checkCoordinateSystem (<span class="keyword">const</span> Eigen::Matrix&lt;float, 3, 1&gt; &amp;origin,</div>
<div class="line"><a name="l00661"></a><span class="lineno">  661</span>&#160;                         <span class="keyword">const</span> Eigen::Matrix&lt;float, 3, 1&gt; &amp;x_direction,</div>
<div class="line"><a name="l00662"></a><span class="lineno">  662</span>&#160;                         <span class="keyword">const</span> Eigen::Matrix&lt;float, 3, 1&gt; &amp;y_direction,</div>
<div class="line"><a name="l00663"></a><span class="lineno">  663</span>&#160;                         <span class="keyword">const</span> <span class="keywordtype">float</span> norm_limit = 1e-3,</div>
<div class="line"><a name="l00664"></a><span class="lineno">  664</span>&#160;                         <span class="keyword">const</span> <span class="keywordtype">float</span> dot_limit = 1e-3)</div>
<div class="line"><a name="l00665"></a><span class="lineno">  665</span>&#160;  {</div>
<div class="line"><a name="l00666"></a><span class="lineno">  666</span>&#160;    Eigen::Matrix&lt;float, Eigen::Dynamic, 1&gt; line_x;</div>
<div class="line"><a name="l00667"></a><span class="lineno">  667</span>&#160;    Eigen::Matrix&lt;float, Eigen::Dynamic, 1&gt; line_y;</div>
<div class="line"><a name="l00668"></a><span class="lineno">  668</span>&#160;    line_x.resize (6);</div>
<div class="line"><a name="l00669"></a><span class="lineno">  669</span>&#160;    line_y.resize (6);</div>
<div class="line"><a name="l00670"></a><span class="lineno">  670</span>&#160;    line_x &lt;&lt; origin, x_direction;</div>
<div class="line"><a name="l00671"></a><span class="lineno">  671</span>&#160;    line_y &lt;&lt; origin, y_direction;</div>
<div class="line"><a name="l00672"></a><span class="lineno">  672</span>&#160;    <span class="keywordflow">return</span> (checkCoordinateSystem&lt;float&gt; (line_x, line_y, norm_limit, dot_limit));</div>
<div class="line"><a name="l00673"></a><span class="lineno">  673</span>&#160;  }</div>
<div class="line"><a name="l00674"></a><span class="lineno">  674</span>&#160; </div>
<div class="line"><a name="l00687"></a><span class="lineno">  687</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Scalar&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00688"></a><span class="lineno">  688</span>&#160;  transformBetween2CoordinateSystems (<span class="keyword">const</span> Eigen::Matrix&lt;Scalar, Eigen::Dynamic, 1&gt; from_line_x,</div>
<div class="line"><a name="l00689"></a><span class="lineno">  689</span>&#160;                                      <span class="keyword">const</span> Eigen::Matrix&lt;Scalar, Eigen::Dynamic, 1&gt; from_line_y,</div>
<div class="line"><a name="l00690"></a><span class="lineno">  690</span>&#160;                                      <span class="keyword">const</span> Eigen::Matrix&lt;Scalar, Eigen::Dynamic, 1&gt; to_line_x,</div>
<div class="line"><a name="l00691"></a><span class="lineno">  691</span>&#160;                                      <span class="keyword">const</span> Eigen::Matrix&lt;Scalar, Eigen::Dynamic, 1&gt; to_line_y,</div>
<div class="line"><a name="l00692"></a><span class="lineno">  692</span>&#160;                                      Eigen::Transform&lt;Scalar, 3, Eigen::Affine&gt; &amp;transformation);</div>
<div class="line"><a name="l00693"></a><span class="lineno">  693</span>&#160; </div>
<div class="line"><a name="l00694"></a><span class="lineno">  694</span>&#160;  <span class="keyword">inline</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00695"></a><span class="lineno">  695</span>&#160;  transformBetween2CoordinateSystems (<span class="keyword">const</span> Eigen::Matrix&lt;double, Eigen::Dynamic, 1&gt; from_line_x,</div>
<div class="line"><a name="l00696"></a><span class="lineno">  696</span>&#160;                                      <span class="keyword">const</span> Eigen::Matrix&lt;double, Eigen::Dynamic, 1&gt; from_line_y,</div>
<div class="line"><a name="l00697"></a><span class="lineno">  697</span>&#160;                                      <span class="keyword">const</span> Eigen::Matrix&lt;double, Eigen::Dynamic, 1&gt; to_line_x,</div>
<div class="line"><a name="l00698"></a><span class="lineno">  698</span>&#160;                                      <span class="keyword">const</span> Eigen::Matrix&lt;double, Eigen::Dynamic, 1&gt; to_line_y,</div>
<div class="line"><a name="l00699"></a><span class="lineno">  699</span>&#160;                                      Eigen::Transform&lt;double, 3, Eigen::Affine&gt; &amp;transformation)</div>
<div class="line"><a name="l00700"></a><span class="lineno">  700</span>&#160;  {</div>
<div class="line"><a name="l00701"></a><span class="lineno">  701</span>&#160;    <span class="keywordflow">return</span> (transformBetween2CoordinateSystems&lt;double&gt; (from_line_x, from_line_y, to_line_x, to_line_y, transformation));</div>
<div class="line"><a name="l00702"></a><span class="lineno">  702</span>&#160;  }</div>
<div class="line"><a name="l00703"></a><span class="lineno">  703</span>&#160; </div>
<div class="line"><a name="l00704"></a><span class="lineno">  704</span>&#160;  <span class="keyword">inline</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00705"></a><span class="lineno">  705</span>&#160;  transformBetween2CoordinateSystems (<span class="keyword">const</span> Eigen::Matrix&lt;float, Eigen::Dynamic, 1&gt; from_line_x,</div>
<div class="line"><a name="l00706"></a><span class="lineno">  706</span>&#160;                                      <span class="keyword">const</span> Eigen::Matrix&lt;float, Eigen::Dynamic, 1&gt; from_line_y,</div>
<div class="line"><a name="l00707"></a><span class="lineno">  707</span>&#160;                                      <span class="keyword">const</span> Eigen::Matrix&lt;float, Eigen::Dynamic, 1&gt; to_line_x,</div>
<div class="line"><a name="l00708"></a><span class="lineno">  708</span>&#160;                                      <span class="keyword">const</span> Eigen::Matrix&lt;float, Eigen::Dynamic, 1&gt; to_line_y,</div>
<div class="line"><a name="l00709"></a><span class="lineno">  709</span>&#160;                                      Eigen::Transform&lt;float, 3, Eigen::Affine&gt; &amp;transformation)</div>
<div class="line"><a name="l00710"></a><span class="lineno">  710</span>&#160;  {</div>
<div class="line"><a name="l00711"></a><span class="lineno">  711</span>&#160;    <span class="keywordflow">return</span> (transformBetween2CoordinateSystems&lt;float&gt; (from_line_x, from_line_y, to_line_x, to_line_y, transformation));</div>
<div class="line"><a name="l00712"></a><span class="lineno">  712</span>&#160;  }</div>
<div class="line"><a name="l00713"></a><span class="lineno">  713</span>&#160; </div>
<div class="line"><a name="l00714"></a><span class="lineno">  714</span>&#160;}</div>
<div class="line"><a name="l00715"></a><span class="lineno">  715</span>&#160; </div>
<div class="line"><a name="l00716"></a><span class="lineno">  716</span>&#160;<span class="preprocessor">#include &lt;pcl/common/impl/eigen.hpp&gt;</span></div>
<div class="line"><a name="l00717"></a><span class="lineno">  717</span>&#160; </div>
<div class="line"><a name="l00718"></a><span class="lineno">  718</span>&#160;<span class="preprocessor">#if defined __SUNPRO_CC</span></div>
<div class="line"><a name="l00719"></a><span class="lineno">  719</span>&#160;<span class="preprocessor">#  pragma enable_warn</span></div>
<div class="line"><a name="l00720"></a><span class="lineno">  720</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00721"></a><span class="lineno">  721</span>&#160; </div>
<div class="line"><a name="l00722"></a><span class="lineno">  722</span>&#160;<span class="preprocessor">#endif  </span><span class="comment">//PCL_COMMON_EIGEN_H_</span></div>
<div class="ttc" id="agroup__common_html_ga11c9b186d04d2e8a868e058473214622"><div class="ttname"><a href="group__common.html#ga11c9b186d04d2e8a868e058473214622">pcl::computeCorrespondingEigenVector</a></div><div class="ttdeci">void computeCorrespondingEigenVector(const Matrix &amp;mat, const typename Matrix::Scalar &amp;eigenvalue, Vector &amp;eigenvector)</div><div class="ttdoc">determines the corresponding eigenvector to the given eigenvalue of the symmetric positive semi defin...</div><div class="ttdef"><b>Definition:</b> eigen.hpp:219</div></div>
<div class="ttc" id="agroup__common_html_ga1bd2c5ea1258af3a45483dd1341aa429"><div class="ttname"><a href="group__common.html#ga1bd2c5ea1258af3a45483dd1341aa429">pcl::transformPoint</a></div><div class="ttdeci">PointT transformPoint(const PointT &amp;point, const Eigen::Transform&lt; Scalar, 3, Eigen::Affine &gt; &amp;transform)</div><div class="ttdoc">Transform a point with members x,y,z</div><div class="ttdef"><b>Definition:</b> transforms.hpp:315</div></div>
<div class="ttc" id="agroup__common_html_ga3e52d439a979e71096f4dd50f1298f32"><div class="ttname"><a href="group__common.html#ga3e52d439a979e71096f4dd50f1298f32">pcl::getTranslationAndEulerAngles</a></div><div class="ttdeci">void getTranslationAndEulerAngles(const Eigen::Transform&lt; Scalar, 3, Eigen::Affine &gt; &amp;t, Scalar &amp;x, Scalar &amp;y, Scalar &amp;z, Scalar &amp;roll, Scalar &amp;pitch, Scalar &amp;yaw)</div><div class="ttdef"><b>Definition:</b> eigen.hpp:673</div></div>
<div class="ttc" id="agroup__common_html_ga4375e99ec2ae368eec9379f506568611"><div class="ttname"><a href="group__common.html#ga4375e99ec2ae368eec9379f506568611">pcl::getTransformationFromTwoUnitVectorsAndOrigin</a></div><div class="ttdeci">void getTransformationFromTwoUnitVectorsAndOrigin(const Eigen::Vector3f &amp;y_direction, const Eigen::Vector3f &amp;z_axis, const Eigen::Vector3f &amp;origin, Eigen::Affine3f &amp;transformation)</div><div class="ttdoc">Get the transformation that will translate orign to (0,0,0) and rotate z_axis into (0,...</div><div class="ttdef"><b>Definition:</b> eigen.hpp:652</div></div>
<div class="ttc" id="agroup__common_html_ga44d0048ba1efd11359011eb47f6c92fa"><div class="ttname"><a href="group__common.html#ga44d0048ba1efd11359011eb47f6c92fa">pcl::determinant3x3Matrix</a></div><div class="ttdeci">Matrix::Scalar determinant3x3Matrix(const Matrix &amp;matrix)</div><div class="ttdoc">Calculate the determinant of a 3x3 matrix.</div><div class="ttdef"><b>Definition:</b> eigen.hpp:572</div></div>
<div class="ttc" id="agroup__common_html_ga4fdd69805d49c416393c604f9f209113"><div class="ttname"><a href="group__common.html#ga4fdd69805d49c416393c604f9f209113">pcl::eigen22</a></div><div class="ttdeci">void eigen22(const Matrix &amp;mat, Matrix &amp;eigenvectors, Vector &amp;eigenvalues)</div><div class="ttdoc">determine the smallest eigenvalue and its corresponding eigenvector</div><div class="ttdef"><b>Definition:</b> eigen.hpp:165</div></div>
<div class="ttc" id="agroup__common_html_ga503f55a565c260660c6ac0461f17fa8f"><div class="ttname"><a href="group__common.html#ga503f55a565c260660c6ac0461f17fa8f">pcl::invert3x3SymMatrix</a></div><div class="ttdeci">Matrix::Scalar invert3x3SymMatrix(const Matrix &amp;matrix, Matrix &amp;inverse)</div><div class="ttdoc">Calculate the inverse of a 3x3 symmetric matrix.</div><div class="ttdef"><b>Definition:</b> eigen.hpp:504</div></div>
<div class="ttc" id="agroup__common_html_ga5281205532955d384c8aa22ff4ff5e80"><div class="ttname"><a href="group__common.html#ga5281205532955d384c8aa22ff4ff5e80">pcl::loadBinary</a></div><div class="ttdeci">void loadBinary(Eigen::MatrixBase&lt; Derived &gt; const &amp;matrix, std::istream &amp;file)</div><div class="ttdoc">Read a matrix from an input stream</div><div class="ttdef"><b>Definition:</b> eigen.hpp:717</div></div>
<div class="ttc" id="agroup__common_html_ga58d47eda3c3f5f91125296fd7d202ebb"><div class="ttname"><a href="group__common.html#ga58d47eda3c3f5f91125296fd7d202ebb">pcl::getTransFromUnitVectorsZY</a></div><div class="ttdeci">Eigen::Affine3f getTransFromUnitVectorsZY(const Eigen::Vector3f &amp;z_axis, const Eigen::Vector3f &amp;y_direction)</div><div class="ttdoc">Get the unique 3D rotation that will rotate z_axis into (0,0,1) and y_direction into a vector with x=...</div><div class="ttdef"><b>Definition:</b> eigen.hpp:598</div></div>
<div class="ttc" id="agroup__common_html_ga637da495fec59c1c1d186aa6e3bac15b"><div class="ttname"><a href="group__common.html#ga637da495fec59c1c1d186aa6e3bac15b">pcl::getEulerAngles</a></div><div class="ttdeci">void getEulerAngles(const Eigen::Transform&lt; Scalar, 3, Eigen::Affine &gt; &amp;t, Scalar &amp;roll, Scalar &amp;pitch, Scalar &amp;yaw)</div><div class="ttdoc">Extract the Euler angles (XYZ-convention) from the given transformation</div><div class="ttdef"><b>Definition:</b> eigen.hpp:664</div></div>
<div class="ttc" id="agroup__common_html_ga76d78c3e9c0f3f58a0806499ae6ed97b"><div class="ttname"><a href="group__common.html#ga76d78c3e9c0f3f58a0806499ae6ed97b">pcl::eigen33</a></div><div class="ttdeci">void eigen33(const Matrix &amp;mat, Matrix &amp;evecs, Vector &amp;evals)</div><div class="ttdoc">determines the eigenvalues and corresponding eigenvectors of the symmetric positive semi definite inp...</div><div class="ttdef"><b>Definition:</b> eigen.hpp:302</div></div>
<div class="ttc" id="agroup__common_html_ga8933c653f39db3636bfbdd262278edcb"><div class="ttname"><a href="group__common.html#ga8933c653f39db3636bfbdd262278edcb">pcl::getTransFromUnitVectorsXY</a></div><div class="ttdeci">Eigen::Affine3f getTransFromUnitVectorsXY(const Eigen::Vector3f &amp;x_axis, const Eigen::Vector3f &amp;y_direction)</div><div class="ttdoc">Get the unique 3D rotation that will rotate x_axis into (1,0,0) and y_direction into a vector with z=...</div><div class="ttdef"><b>Definition:</b> eigen.hpp:624</div></div>
<div class="ttc" id="agroup__common_html_gabb12d1f85437aafb0a3ac12af5633400"><div class="ttname"><a href="group__common.html#gabb12d1f85437aafb0a3ac12af5633400">pcl::invert3x3Matrix</a></div><div class="ttdeci">Matrix::Scalar invert3x3Matrix(const Matrix &amp;matrix, Matrix &amp;inverse)</div><div class="ttdoc">Calculate the inverse of a general 3x3 matrix.</div><div class="ttdef"><b>Definition:</b> eigen.hpp:539</div></div>
<div class="ttc" id="agroup__common_html_gacc18ebcacd806fd0c9336fe2f8b7208c"><div class="ttname"><a href="group__common.html#gacc18ebcacd806fd0c9336fe2f8b7208c">pcl::saveBinary</a></div><div class="ttdeci">void saveBinary(const Eigen::MatrixBase&lt; Derived &gt; &amp;matrix, std::ostream &amp;file)</div><div class="ttdoc">Write a matrix to an output stream</div><div class="ttdef"><b>Definition:</b> eigen.hpp:702</div></div>
<div class="ttc" id="agroup__common_html_gad09b0c9a50601f3ae20a7babfd9a8d2d"><div class="ttname"><a href="group__common.html#gad09b0c9a50601f3ae20a7babfd9a8d2d">pcl::invert2x2</a></div><div class="ttdeci">Matrix::Scalar invert2x2(const Matrix &amp;matrix, Matrix &amp;inverse)</div><div class="ttdoc">Calculate the inverse of a 2x2 matrix</div><div class="ttdef"><b>Definition:</b> eigen.hpp:485</div></div>
<div class="ttc" id="agroup__common_html_gada89edf1699e05ecf7355738e9f56f6b"><div class="ttname"><a href="group__common.html#gada89edf1699e05ecf7355738e9f56f6b">pcl::getTransformationFromTwoUnitVectors</a></div><div class="ttdeci">Eigen::Affine3f getTransformationFromTwoUnitVectors(const Eigen::Vector3f &amp;y_direction, const Eigen::Vector3f &amp;z_axis)</div><div class="ttdoc">Get the unique 3D rotation that will rotate z_axis into (0,0,1) and y_direction into a vector with x=...</div><div class="ttdef"><b>Definition:</b> eigen.hpp:643</div></div>
<div class="ttc" id="agroup__common_html_gaf49a34180e337479ddeda21222882124"><div class="ttname"><a href="group__common.html#gaf49a34180e337479ddeda21222882124">pcl::getTransformation</a></div><div class="ttdeci">Eigen::Affine3f getTransformation(float x, float y, float z, float roll, float pitch, float yaw)</div><div class="ttdoc">Create a transformation from the given translation and Euler angles (XYZ-convention)</div><div class="ttdef"><b>Definition:</b> eigen.h:350</div></div>
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